Diff: include/SafetyStop/safetystopfunction.hpp

Revision:

1:ceee5a608e7c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/include/SafetyStop/safetystopfunction.hpp	Thu Mar 28 07:44:42 2019 +0000
@@ -0,0 +1,75 @@
+/**
+  ******************************************************************************
+  * @file    SafetyStopFunction.hpp
+  * @author  RBRO/PJ-IU
+  * @version V1.0.0
+  * @date    day-month-2017
+  * @brief   This file contains the class declaration for the safety stop activation
+  *          methods.
+  ******************************************************************************
+ */
+
+/* Include guard */
+#ifndef SAFETY_STOP_FUNCTION_HPP
+#define SAFETY_STOP_FUNCTION_HPP
+
+/* Required for the use of C_IR_DistanceSensorDriver */
+#include <SHARP_IR_distance\IR_DistanceSensorDriver\ir_distancesensordriver.hpp>
+
+
+/**
+ * @brief It is used for deciding whether to activate safetyu stop depending on
+ * distance sensors reading.
+ * 
+ */
+class CSafetyStopFunction{
+public:
+    /* Construnctor */
+    CSafetyStopFunction(C_IR_DistanceSensorDriver& f_senLeftFront
+                        , C_IR_DistanceSensorDriver& f_senMidLeftFront
+                        , C_IR_DistanceSensorDriver& f_senCenterFront
+                        , C_IR_DistanceSensorDriver& f_senMidRightFront
+                        , C_IR_DistanceSensorDriver& f_senRightFront
+                        // , C_IR_DistanceSensorDriver& f_senLeftBach
+                        // , C_IR_DistanceSensorDriver& f_senRightBach
+                        );
+
+    /* Destructor */
+    ~CSafetyStopFunction();
+
+    /* Function for activating safety stop */
+    bool isSafetyStopActive(float f_speed, float f_angle);
+    /* Serial callback method */
+    static void staticSerialCallback(void* obj,char const * a, char * b);
+private:
+    /* Serial callback actions */
+    void serialCallback(char const * a, char * b);
+    /* The functionality active state*/
+    bool  m_active;
+    /* Current car speed */
+    float m_speed;
+    /* Current steering angle */
+    float m_angle;
+    /* Front sensors */
+    C_IR_DistanceSensorDriver& m_senLeftFront;
+    C_IR_DistanceSensorDriver& m_senMidLeftFront;
+    C_IR_DistanceSensorDriver& m_senCenterFront;
+    C_IR_DistanceSensorDriver& m_senMidRightFront;
+    C_IR_DistanceSensorDriver& m_senRightFront;
+    /* Back sensors */
+    // C_IR_DistanceSensorDriver& m_senLeftBach;
+    // C_IR_DistanceSensorDriver& m_senRightBach;
+    /* Serial communication member */
+    /* USED FOR DEBUG */
+};
+
+/* Include guard */
+#endif
+
+
+
+
+
+
+
+